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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献

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Implementation of near-time-optimal inspection task sequence planning for industrial robot arms 工业机械臂近时间最优检测任务序列规划的实现
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509332
B. Cao, G. Dodds
{"title":"Implementation of near-time-optimal inspection task sequence planning for industrial robot arms","authors":"B. Cao, G. Dodds","doi":"10.1109/AMC.1996.509332","DOIUrl":"https://doi.org/10.1109/AMC.1996.509332","url":null,"abstract":"Near-time-optimal inspection task sequence planning using industrial robots is implemented. In the system, one robot arm holds an inspection tool while the part to be inspected is held by a second robot arm. A time-efficient continuous joint acceleration profile is proposed and simplified by suitably choosing the ratio of time intervals of the profile. Travelling times between any points are calculated based on limits of joint positions, velocities, accelerations and jerks. Time-efficient joint trajectories are generated between all pairs of points. Then the inspection task sequence planning is formulated as a variation on the travelling salesmen problem and simulated annealing is introduced to find a near-time-optimal route. A hierarchical structure is presented which integrates task planning, time-efficient trajectory planning, control of two RTX SCARA type industrial robots, and graphic display of the route. A SUN SPARC-5 workstation and a transputer network are used. Process 1 of the workstation is used for task planning and graphic display. Process 2 of the workstation interfaces to a transputer network used for real-time time-efficient trajectory generation and control of the two RTX robot arms. Experiments have been made on the system based on the theoretical computational results. The experimental results are satisfactory and consistent with their theoretical counterparts. The effectiveness, efficiency and feasibility of this implementation have thus been verified.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131375157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Discrete-time disturbance observer design for systems with time delay 时滞系统的离散扰动观测器设计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509428
C. Kempf, S. Kobayashi
{"title":"Discrete-time disturbance observer design for systems with time delay","authors":"C. Kempf, S. Kobayashi","doi":"10.1109/AMC.1996.509428","DOIUrl":"https://doi.org/10.1109/AMC.1996.509428","url":null,"abstract":"In many engineering systems, time delay is present or can be used to approximate phase loss at high frequencies. In such situations, existing disturbance observer design techniques encounter difficulties due to bandwidth limitations or relative degree restrictions on disturbance observer filtering. These problems can be avoided by a straightforward inclusion of time delay in the nominal plant model. As a result, the disturbance observer sensitivity function is degraded, but this is offset by the fact that higher bandwidth low pass filtering can be used. Importantly, input-output characteristics of the disturbance observer loop better approximate the nominal plant model, thus improving noise rejection and simplifying the subsequent design of outer loop compensation and feedforward filtering. The technique is applied one axis of a high speed X-Y table. Simulation and experimental results demonstrate the effectiveness of the technique.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130088846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 29
Modeling without using phase-information and robust stability 不使用相位信息的建模和鲁棒稳定性
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509323
K. Yamada, K. Watanabe
{"title":"Modeling without using phase-information and robust stability","authors":"K. Yamada, K. Watanabe","doi":"10.1109/AMC.1996.509323","DOIUrl":"https://doi.org/10.1109/AMC.1996.509323","url":null,"abstract":"Discusses modeling for robust control. To keep the input-output property, we need the error small to make the sensitivity function small in a specified frequency range with robust stability. We considered the condition to make the sensitivity function small in a specified function range with robust stability. It is shown that the numbers of unstable poles, zeros and relative degree are required. We call the number of relative degrees and unstable zeros the phase-information because this relates the phase of the plant. We may not measure the phase-information of real plants. We propose a procedure to select the nominal model to make the sensitivity function small in a specified frequency range with robust stability without using phase-information. First the sensitivity function with desirable property is selected. The conditions of the nominal plant to satisfy the robust stability condition with preassigned sensitivity property is considered. Next how to select the nominal plant is invented. A design method of control systems with robust stability and preassigned sensitivity property is presented.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125826892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Sensorless control and initial position estimation of salient-pole brushless DC motor 凸极无刷直流电动机的无传感器控制与初始位置估计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509373
T. Takeshita, N. Matsui
{"title":"Sensorless control and initial position estimation of salient-pole brushless DC motor","authors":"T. Takeshita, N. Matsui","doi":"10.1109/AMC.1996.509373","DOIUrl":"https://doi.org/10.1109/AMC.1996.509373","url":null,"abstract":"This paper presents a position sensorless drive and an initial rotor position estimation for a salient-pole brushless DC motor with a sinusoidal flux distribution. To estimate the position and back EMF, the controller calculates the motor current by using the estimated position and back EMF of the motor model. The difference between the actual and the calculated currents is used to estimate the position and back EMF. The initial rotor position at standstill should be estimated for stable starting without temporary reverse revolution. The principle of the initial position estimation relies on the saliency of the motor and uses the current response difference due to the rotor position. To confirm the effectiveness of the proposed algorithm, experimental results using a 6-pole 200 W test motor are shown.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126759458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 38
Robust digital tracking controller design for high-speed positioning systems-a new design approach and implementation techniques 高速定位系统鲁棒数字跟踪控制器设计——一种新的设计方法和实现技术
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509381
H. Kobayashi, S. Endo, S. Kobayashi, C. Kempf
{"title":"Robust digital tracking controller design for high-speed positioning systems-a new design approach and implementation techniques","authors":"H. Kobayashi, S. Endo, S. Kobayashi, C. Kempf","doi":"10.1109/AMC.1996.509381","DOIUrl":"https://doi.org/10.1109/AMC.1996.509381","url":null,"abstract":"This paper offers extensions to a previously proposed and implemented robust digital tracking controller design for a high-speed positioning system. The previous design exhibited excellent tracking performance in spite of friction and parameter variations in the plant, but required the use of a high performance CPU and a high-resolution feedback encoder. In this paper, a new discrete-time design method is proposed to relax these requirements. Experimental results show that similar levels of tracking performance can be achieved at slower sampling rates. Further, difficulties associated with controller parameter scaling are reduced. Finally, sensitivity to low-amplitude high-frequency limit cycles due to encoder quantizing errors are reduced in the new design.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133588320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Sliding-mode neural network robot controller 滑模神经网络机器人控制器
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509439
R. Šafarič, K. Jezernik, M. Rodic, A. Sabanoviç, S. Uran
{"title":"Sliding-mode neural network robot controller","authors":"R. Šafarič, K. Jezernik, M. Rodic, A. Sabanoviç, S. Uran","doi":"10.1109/AMC.1996.509439","DOIUrl":"https://doi.org/10.1109/AMC.1996.509439","url":null,"abstract":"The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116942183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
A method of visual servoing for autonomous vehicles 一种自动驾驶汽车的视觉伺服方法
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509435
M. Kobayashi, Y. Miyamoto, K. Mitsuhashi, Y. Tanaka
{"title":"A method of visual servoing for autonomous vehicles","authors":"M. Kobayashi, Y. Miyamoto, K. Mitsuhashi, Y. Tanaka","doi":"10.1109/AMC.1996.509435","DOIUrl":"https://doi.org/10.1109/AMC.1996.509435","url":null,"abstract":"This paper describes a control method for autonomous vehicles using visual servoing. For controlling an autonomous vehicle by visual servoing, marks for autonomous running, namely landmarks are necessary. In ordinary studies, the landmarks are specified by an operator at the teaching step, which is carried out before autonomous running. This paper describes a method of adapting production systems for planning the use of landmarks for automating the teaching operations and improving the robustness of autonomous running. By its production system, anyone can perform the teaching operations without an expert on visual servoing and the vehicle can adapt itself to disturbances while running autonomously. This paper describes a method of visual servoing using multiple landmarks in a single image in order to navigate a vehicle along a taught path precisely.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131280735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Robust position control of manipulators based on disturbance observer and inertia identifier in task space 基于任务空间扰动观测器和惯性辨识器的机械臂鲁棒位置控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509409
S. Komada, T. Kimura, M. Ishida, T. Hori
{"title":"Robust position control of manipulators based on disturbance observer and inertia identifier in task space","authors":"S. Komada, T. Kimura, M. Ishida, T. Hori","doi":"10.1109/AMC.1996.509409","DOIUrl":"https://doi.org/10.1109/AMC.1996.509409","url":null,"abstract":"A robust and high speed response position control strategy is proposed based on acceleration control in task space. A disturbance observer in task space is used to control acceleration. The order of the disturbance observer is increased to suppress the disturbance of the robot manipulator effectively. An inverse kinematics including an inertia matrix in task space and a transposed Jacobian matrix is tested. The inertia matrix is set at nominal value in order to reduce the computation time of the inverse kinematics because the influence of the inertia variation is compensated by the disturbance observer. Moreover, the nominal value of the inertia matrix in task space is renewed by an estimated inertia by an inertia identifier in order to adapt to wide inertia variation. This algorithm can realize high performance control with a short control period. Experimental results show the effectiveness of the proposed strategy.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131988970","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Hybrid control system for microvibration isolation 微振动隔离混合控制系统
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509312
K. Mizutani, Y. Fujita, H. Ohmori
{"title":"Hybrid control system for microvibration isolation","authors":"K. Mizutani, Y. Fujita, H. Ohmori","doi":"10.1109/AMC.1996.509312","DOIUrl":"https://doi.org/10.1109/AMC.1996.509312","url":null,"abstract":"This paper proposes a hybrid-type system for microvibration isolation. The hybrid system is composed of a passive spring-damper system which reduces vibrations of high-frequency area and an active one which reduces those of low-frequency area.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134124955","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Discontinuous and continuous sliding mode motion control 不连续和连续滑模运动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509440
K. Jezernik, B. Curk, J. Harnik, A. Sabanoviç
{"title":"Discontinuous and continuous sliding mode motion control","authors":"K. Jezernik, B. Curk, J. Harnik, A. Sabanoviç","doi":"10.1109/AMC.1996.509440","DOIUrl":"https://doi.org/10.1109/AMC.1996.509440","url":null,"abstract":"An advanced discrete-time chattering-free sliding mode control scheme is presented. The distinctive feature of the scheme is its robustness to different initial condition values and parameter mismatch. Nonlinear control principles will be used namely, the combined feedforward and the robust negative feedback part based on VSS controllers. In the discrete-time expression the discontinuous operation of controllers in the sliding mode has ben replaced by the continuous one. In this way the chattering of control input has been eliminated and the excitation of the dynamic system without high-frequency oscillations has been achieved. The proposed control solution is near an ideal control function in the sliding mode. Unlike other algorithms intended to avoid chattering, this nonmodel-based approach uses only the information about the distance from the sliding mode manifold to derive the control. The advantage of the proposed control scheme prevail over those conventional model-based control scheme since no precise knowledge of mathematical model is necessary. In order to implement the control it must be only known the structure of input matrix and the mean values of its parameters. The input-output linear behavior of the closed control loop is predominantly determined by the controller's gain matrix.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134176083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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